无人机转角偏移优化测量方法研究与仿真  

Simulation and Research on Optimization Measurement Method for Rotation Angle Migration of Unmanned Aerial Vehicle

作　　者：周华[1] 杨帆[1] 吴耀宇[2] 

机构地区：[1]中州大学信息工程学院,河南郑州450044 [2]中州大学机电与汽车工程学院,河南郑州450044

出　　处：《计算机仿真》2016年第4期140-143,188,共5页Computer Simulation

基　　金：河南省重点科技攻关项目(152102210017)

摘　　要：针对在高空无人机转角偏移测量过程中,由于不能得到稳定的转角控制计算参数,使得算法中的进化步骤过于随机、全局收敛速度慢,导致无人机转角偏移测量的有效性差、准确性低的问题,提出采用改进遗传算法的无人机转角偏移测量方法。引入梯度算子对遗传算法进行改进,利用遗传算法的全局搜索性保证算法的全局收敛,并根据无人机飞行控制软件中对于转角偏移信号测量的数学模型设计了优化函数。通过无人机实测数据对算法进行了验证,实验结果表明,改进遗传算法对于无人机转角偏移测量的有效性和快速收敛性。In the process of measuring angle migration of unmanned aerial vehicle（UAV） , the evolution steps are excessive random and convergence rate is slow. The paper proposed a measurement method for rotation angle migra- tion of UAV based on modified genetic algorithm. We introduced a gradient operator to modify the genetic algorithm, and used the global search capability of genetic algorithm to guarantee the global convergence. An optimization func- tion was designed for the model of measurement for rotation angle migration according to the mathematical model of UAV flight control software. The experimental data proved the effectiveness of the algorithm. The experimental results show that the modified algorithm can improve the property of effectiveness and convergence speed apparently.

关 键 词：高空无人机 改进遗传算法 转角传感器 

分 类 号：TH128[机械工程—机械设计及理论]